bpf: Improve verifier error messages for users

Consolidate all error handling and provide more user-friendly error messages
from sanitize_ptr_alu() and sanitize_val_alu().

Signed-off-by: Daniel Borkmann <daniel@iogearbox.net>
Reviewed-by: John Fastabend <john.fastabend@gmail.com>
Acked-by: Alexei Starovoitov <ast@kernel.org>